EP4097351A1 - Method for computer-implemented controlling of one or more wind turbines in a wind farm - Google Patents

Method for computer-implemented controlling of one or more wind turbines in a wind farm

Info

Publication number
EP4097351A1
EP4097351A1 EP21711792.8A EP21711792A EP4097351A1 EP 4097351 A1 EP4097351 A1 EP 4097351A1 EP 21711792 A EP21711792 A EP 21711792A EP 4097351 A1 EP4097351 A1 EP 4097351A1
Authority
EP
European Patent Office
Prior art keywords
wind turbine
wind
event
data
evi
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP21711792.8A
Other languages
German (de)
French (fr)
Other versions
EP4097351B1 (en
Inventor
Bert Gollnick
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens Gamesa Renewable Energy AS
Original Assignee
Siemens Gamesa Renewable Energy AS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Gamesa Renewable Energy AS filed Critical Siemens Gamesa Renewable Energy AS
Publication of EP4097351A1 publication Critical patent/EP4097351A1/en
Application granted granted Critical
Publication of EP4097351B1 publication Critical patent/EP4097351B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/04—Automatic control; Regulation
    • F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
    • F03D7/048—Automatic control; Regulation by means of an electrical or electronic controller controlling wind farms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/0264—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor for stopping; controlling in emergency situations
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/04—Automatic control; Regulation
    • F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
    • F03D7/043—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic
    • F03D7/045—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic with model-based controls
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/0204—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor for orientation in relation to wind direction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/022—Adjusting aerodynamic properties of the blades
    • F03D7/0224—Adjusting blade pitch
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/04—Automatic control; Regulation
    • F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
    • F03D7/043—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic
    • F03D7/046—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic with learning or adaptive control, e.g. self-tuning, fuzzy logic or neural network
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/32—Wind speeds
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/321—Wind directions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/322—Control parameters, e.g. input parameters the detection or prediction of a wind gust
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/331—Mechanical loads
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/70—Type of control algorithm
    • F05B2270/709—Type of control algorithm with neural networks
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

Definitions

  • the present invention provides a method for computer- implemented controlling of one or more wind turbines in a wind farm.
  • the wind farm comprises an upstream first wind turbine and a downstream second wind turbine, i.e. a pair of first and second wind turbines.
  • the method is applied to this pair and may also be applied to several of such pairs. Alter natively, the method is applied to one or more upstream first wind turbines and two or more downstream second wind tur bines.
  • Each of the first and the second wind turbines com prise an upper section on top of a tower, the upper section being pivotable around a vertical yaw axis and having a na celle and a rotor with rotor blades.
  • the rotor is attached to the nacelle and the rotor blades are rotatable by wind around a horizontal rotor axis. According to the method of the invention, the following steps i) to v) are performed at each time point of one or more time points during the operation of the wind farm.
  • step v) a control command for controlling the second wind turbine is generated to counteract the predetermined event in case the evaluation holds that the predetermined event will hit the second wind turbine.
  • evaluating the event information consists of or comprises determining a probability value whether the event information is true, wherein generating the control command is initiated only if the probability value exceeds a predetermined probability threshold.
  • the message contains a wind direc tion and a wind speed as the environmental data. Knowledge of wind direction and wind speed enables in conjunction with a timestamp an evaluation whether or not the predetermined event at the first wind turbine will hit the second wind tur bine in the near future.
  • broadcasting the message into the wind farm is executed by a transmitting unit of the first wind turbine.
  • the transmitting unit may be a communica tion unit which is either configured to only transmit data or configured to transmit and receive data (i.e. configured as a transceiver) .
  • this embodiment does not require a network connec tion to the cloud as well as processing capabilities in the cloud. Instead, the second wind turbine takes all infor mation, processes it and defines the best response. As power ful hardware is nowadays available to perform so-called edge computation, real-time computing is available. Executing the evaluation of the event information by the central computing unit has the advantage of powerful processing units of these controlling units. However, it must be ensured that all in formation is exchanged between the first wind turbine and the second wind turbine in real-time.
  • evaluating the event infor mation is executed by a computing unit of the central compu ting unit.
  • the event infor mation is received and evaluated by the central computing unit.
  • a control command with control parameters for control ling the second wind turbine is generated by the central com puting unit in case the evaluation holds that the predeter mined event will hit the second wind turbine.
  • computational power of the central computing unit can be used.
  • the probability is based on nearbyhistoric" information about the trustworthiness of a turbine.
  • the sensors read ings over time can be analyzed by the turbine sending the event and this information can be part of the broadcasted message.
  • the event message can be sent together with the information that this is likely to be a sensor error and thus not relevant to the receiver, i.e. the second wind tur bine or the central computing unit.
  • the receiver keeps track of events and the actual importance of events. If the broadcasting turbine, i.e. the first wind turbine, sends a signal that turns out to be not- relevant to the receiver, the receiver lowers the trustwor thiness (probability) of the sender.
  • evaluating the event information is based on processing the event information by a trained data driven model, where the event information is fed as a digital input to the trained data driven model and the trained data driven model provides the information whether or not the predetermined event of the first wind turbine will hit the second wind turbine as a digital output.
  • Any known data driven model being learned by machine learning may be used in the method according to the invention.
  • the trained data driven model is a neural network, preferably a recurrent neu ral network.
  • other trained data driven models may also be implemented in the method of the invention, e.g. reinforcement learning.
  • the invention refers to a computer program product with a program code, which is stored on a non-transitory ma chine-readable carrier, configured for carrying out the meth od according to the invention or one or more preferred embod iments thereof when the program code is executed on a comput er.
  • the invention refers to a computer program with a program code for carrying out the method according to the invention or one or more preferred embodiments thereof when the program code is executed on a computer.
  • FIG. 1 shows a schematic illustration of a wind farm for performing a first embodiment of the invention.
  • Fig. 1 shows a wind farm comprising an upstream first wind turbine 1 and a downstream second wind turbine 2 in a view from above.
  • the wind farm may have more than those two wind turbines.
  • the method described herein is applied to the first and the second wind turbines 1 and 2. Nevertheless, the meth od may also be applied to other pairs of wind turbines being part of the wind farm or one or more upstream first wind tur bines and one or more downstream second wind turbines.
  • the wind turbines 1, 2 are shown in plan view from above.
  • a 3D coordinate system CS for indicating the spatial arrange ment of the wind turbines is part of Fig. 1.
  • the vertical di rection is indicated by the z-axis of the coordinate system CS whereas the directions parallel to the horizontal direc tion are indicated by the x-axis and y-axis of the coordinate system CS.
  • the wind direction is along the x-axis of the co ordinate system CS.
  • Wind turbine 2 is equipped with a plurality of sensors 23, where in the schematic illustration only one sensor 23 is shown.
  • the number of sensors 23 consists of sensors for ac quiring environmental data ED, such as temperature, wind speed, wind direction, and stress data SD, such as mechanical loads, strain, vibrations of the tower, vibrations of the na celle, and so on.
  • wind turbine 2 comprises a computing unit 24 and a receiving unit 25.
  • the receiving unit 25 may be a transceiver configured to be able to transmit da ta as well.
  • the method as described in the following provides an easy method to use acquired sensor data taken from the one or more sensors 13 of the upstream wind turbine 1 for controlling the downstream second wind turbine 2 to enable the second wind turbine 2 to avoid excessive loads due to the environmental event and hard control strategies.
  • a control command CO is generated for controlling the second wind turbine 2 such that the predetermined event can be counteracted.
  • the control command may consist of or may comprise control param eters suitable for initiating a shutdown, a soft-shutdown, an adjustment of the yaw angle and/or an adjustment of the pitch angle. In addition, further countermeasures or combinations thereof can be taken. If the determined period of time until the predetermined event hits the second wind turbine is long enough that a soft-shutdown is possible, control commands CO can be initiated before the predetermined event reaches the second wind turbine 2.
  • a soft-shutdown for example, is much more friendly to the wind turbine and its components, so that the lifetime of the components can be extended.
  • control commands CO can be generated such that the performance is increased, for ex ample by early adapting a pitch angle.
  • Figs. 1 and 2 While the first example shown in Figs. 1 and 2 is based on a direct analysis of the information at the first and the sec ond wind turbines 1,2 , where reasonable responses to the predetermined events are defined by the second wind turbine 2 itself, a cloud-based or centralized procedure may be possi ble as well. In the embodiment according to Figs. 1 and 2, no network connection to the cloud is required nor any pro cessing in the cloud. Hence, real-time reactions can be guar anteed. The second wind turbine 2 takes all information, pro Deads it and defines the best response for itself.
  • CO is generated and transmitted via a message M2 to the re ceiving unit 25 of the second wind turbine 2.
  • the wind tur bine 2 therefore does not have to evaluate the event infor mation EVI by itself but directly receives control commands CO instead.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Wind Motors (AREA)

Abstract

The invention refers to a method for computer-implemented controlling of one or more wind turbines (1, 2) in a wind farm. The wind farm comprises an upstream first wind turbine (1) and a downstream second wind turbine (2), wherein at each time point of one or more time points during the operation of the wind farm the following steps are performed: i) obtaining environmental data (ED) and stress data (SD) of the first wind turbine (1), the environmental data (ED) and the stress data (SD) being taken by sensors (13) installed at the first wind turbine (1); ii) determining a status information (STI) indicating whether or not a predetermined event is present at the time of taking the environmental data (ED) and the stress data (SD), wherein the predetermined event requires immediate controlling of the first wind turbine (1); ill) broadcasting a message (M) into the wind farm, wherein the message (M) contains environmental data (ED) and a timestamp (TS) as event information (EVI); iv) evaluating the event information (EVI) whether or not the predetermined event at the first wind turbine (1) will hit the second wind turbine (2); v) generating a control command (CO) for controlling the second wind turbine (2) to counteract the predetermined event in case the evaluation holds that the predetermined event will hit the second wind turbine (2).

Description

Description
Method for computer-implemented controlling of one or more wind turbines in a wind farm
The invention relates to a method and a system for computer- implemented controlling of one or more wind turbines in a wind farm where the wind farm comprises an upstream first wind turbine and a downstream second wind turbine.
As known to the skilled people, wind turbines of wind farms comprise an upper section with a rotor and a nacelle on the top of a tower, where the upper section can be rotated around a vertical yaw axis in order to vary the yaw angle of the re spective turbine. The yaw angle of a wind turbine is usually adjusted such that the rotor of the wind turbine faces the wind. To do so, wind sensors (i.e. anemometers) are installed on the respective wind turbines to estimate the wind direc tion. Generally, to maximize the production of electric ener gy in the wind farm, a yaw misalignment shall be avoided. Hence, the wind turbines are controlled such that a yaw misa lignment angle is as small as possible.
There are environmental events, such as gust or wave, which require an immediate controlling of the wind turbines, such as a hard shutdown in order to avoid exceeding critical loads and resulting component failures. However, hard shutdowns re sult in extensive loads to the turbine and can reduce the overall lifetime.
EP 2788 620 B1 discloses a method of controlling wind tur bines in a wind farm. The method includes measuring parame ters including wind speed and blade load locally at one or more wind turbines in the wind farm in order to determine whether an extreme wind event, such as gust is taking place at the wind turbine. If such an event is detected, a warning, containing information like the measured wind speed, is sent to another or all other wind turbines in the wind farm. The warning might be sent directly between wind turbines, or through a central controller. Warned wind turbines determine whether prophylactic control measures need to be taken.
EP 1790 851 A2 discloses a windpark control system, in which turbines experiencing changes in wind conditions can provide advance information of other turbines which will be affected by those same conditions as the wind field evolves. This is accomplished by providing a central processing and control unit for receiving measurements from each turbine, making calculations and sending controller information to the af fected turbines.
It is an object of the present invention to provide an easy method in order to avoid extensive loads to the turbines of a wind farm in case of an environmental event, such as gust or wave.
This object is solved by the independent claims. Preferred embodiments of the invention are defined in the dependent claims.
The present invention provides a method for computer- implemented controlling of one or more wind turbines in a wind farm. The wind farm comprises an upstream first wind turbine and a downstream second wind turbine, i.e. a pair of first and second wind turbines. The method is applied to this pair and may also be applied to several of such pairs. Alter natively, the method is applied to one or more upstream first wind turbines and two or more downstream second wind tur bines. Each of the first and the second wind turbines com prise an upper section on top of a tower, the upper section being pivotable around a vertical yaw axis and having a na celle and a rotor with rotor blades. The rotor is attached to the nacelle and the rotor blades are rotatable by wind around a horizontal rotor axis. According to the method of the invention, the following steps i) to v) are performed at each time point of one or more time points during the operation of the wind farm.
In step i), environmental data and stress data of the first wind turbine are obtained. In the following, the terms "envi ronmental data" and/or "stress data" refer to digital data. The term "obtaining environmental data and stress data" means that the data are received by a computing unit implementing the method of the invention. The environmental data and the stress data are current data (i.e. up-to-date data) taken by one or more first sensors installed at the first wind tur bine. The term "sensor" refers to any sensing device being configured to acquire environmental data, such as wind infor mation, temperature and so on, or operational data of the wind turbine, such as rotational speed, yaw angle, pitch an gle, strain, vibrations of the tower, vibrations of the na celle and so on. The acquired environmental data and stress data enable the determination whether actual control parame ters of the first wind turbine result in a requested or pre determined performance and are within predetermined load cor ridors.
In step ii), a status information indicating whether or not a predetermined event is present at the time of taking the en vironmental data and the stress data is determined based on the acquired environmental data and stress data. The prede termined event requires immediate controlling of the first wind turbine in order to avoid excessive loads on the turbine and resulting component fails.
In step iii), a message is broadcasted into the wind farm in case that the status information indicates the predetermined event. The broadcast message contains as event information at least some of the environmental data and a timestep. In step iv), the event information whether or not the prede termined event at the first wind turbine will hit the second wind turbine is evaluated on receiving the broadcast message.
In step v), a control command for controlling the second wind turbine is generated to counteract the predetermined event in case the evaluation holds that the predetermined event will hit the second wind turbine.
According to the invention, evaluating the event information consists of or comprises determining a probability value whether the event information is true, wherein generating the control command is initiated only if the probability value exceeds a predetermined probability threshold.
The method of the invention provides an easy and straight forward method for controlling the first and/or the second wind turbine in case the first wind turbine is subject to a predetermined event requiring immediate controlling of the first wind turbine. To do so, acquired environmental data and stress data of the first wind turbine are broadcasted into the wind farm in case that a status information resulting from evaluation of the environmental data and the stress data indicates a predetermined event. If the evaluation holds that the predetermined event will also hit the second wind tur bine, countermeasures can be taken by generating a control command which adapts one or more control parameters of the second wind turbine to avoid excessive load and damages.
The method makes use of a communication between the first and the second wind turbine, either directly or indirectly. The method provides a warning system for the second wind turbine by making use of broadcast messages containing all the neces sary information to evaluate whether a critical predetermined event is relevant to the own operation of the second wind turbine. In particular, this enables an earlier reaction on critical events. Reduced failure of components, improved per formance or extended lifetime will result from that adapted control strategy. As a further advantage, the levelized costs of electricity (LCOE) can be reduced.
Determining a probability value whether the event information is true enhances the correctness of the decision. If the en vironmental data taken by the first wind turbine is incor rect, for example due to a failure in a sensor, this would lead to a wrong and undesired control command. By introducing a probability value obvious defects of the environmental data can be considered.
In preferred embodiments, the message contains a wind direc tion and a wind speed as the environmental data. Knowledge of wind direction and wind speed enables in conjunction with a timestamp an evaluation whether or not the predetermined event at the first wind turbine will hit the second wind tur bine in the near future.
According to a further preferred embodiment, determining the status information is executed by a computing unit of the first wind turbine. The computing unit of the first wind tur bine processes the environmental data and the stress data to determine the status information indicating whether or not a predetermined event is present at the time of taking the en vironmental data and the stress data. This corresponds to the usual behavior of the wind turbine which processes available information to control the wind turbine by its own. In addi tion to this usual behavior, the first wind turbine broad casts the message into the wind farm. The information con tained in the broadcast message enables the receiver to eval uate whether or not the predetermined event at the first wind turbine will hit the second wind turbine.
In an alternative embodiment, determining the status infor mation is executed by a central computing unit. According to this embodiment, the acquired environmental data and stress data are transmitted by a broadcast message or a unicast mes sage to the central computing unit which determines, based on the environmental data and the stress data, the status infor mation. The central computing unit may be a computing unit of the wind farm or any other computing unit in a cloud.
In a further preferred embodiment, broadcasting the message into the wind farm is executed by a transmitting unit of the first wind turbine. The transmitting unit may be a communica tion unit which is either configured to only transmit data or configured to transmit and receive data (i.e. configured as a transceiver) .
In a further preferred embodiment, evaluating the event in formation is executed by a computing unit of the second wind turbine. The broadcast message is received by the second wind turbine which evaluates the event information of the broad cast message itself and generates a control command with con trol parameters for controlling the second wind turbine in case the evaluation holds that the predetermined event will hit the second wind turbine. According to this embodiment, an analysis of available data is made directly at the second wind turbine. It defines a reasonable response by itself.
This may be beneficial as real-time reaction is required. In addition, this embodiment does not require a network connec tion to the cloud as well as processing capabilities in the cloud. Instead, the second wind turbine takes all infor mation, processes it and defines the best response. As power ful hardware is nowadays available to perform so-called edge computation, real-time computing is available. Executing the evaluation of the event information by the central computing unit has the advantage of powerful processing units of these controlling units. However, it must be ensured that all in formation is exchanged between the first wind turbine and the second wind turbine in real-time.
In an alternative embodiment, evaluating the event infor mation is executed by a computing unit of the central compu ting unit. According to this embodiment, the event infor mation is received and evaluated by the central computing unit. A control command with control parameters for control ling the second wind turbine is generated by the central com puting unit in case the evaluation holds that the predeter mined event will hit the second wind turbine. According to this embodiment, computational power of the central computing unit can be used.
According to a further preferred embodiment, evaluating the event information consists of or comprises determining the period of time, starting from the time of having determined the predetermined event at the first wind turbine until the predetermined event will hit the second wind turbine. Accord ing to the determined period of time, suitable countermeas ures may be taken. The determination of the period of time until the predetermined event will hit the second wind tur bine can be calculated from the timestamp, the wind direc tion, the windspeed information and the known distance be tween the first wind turbine and the second wind turbine.
The probability is based on „historic" information about the trustworthiness of a turbine. For example, the sensors read ings over time can be analyzed by the turbine sending the event and this information can be part of the broadcasted message. E.g., if there is a sudden (unphysical) jump in a sensor reading, it can send the event message together with the information that this is likely to be a sensor error and thus not relevant to the receiver, i.e. the second wind tur bine or the central computing unit. It also could be imple mented that the receiver keeps track of events and the actual importance of events. If the broadcasting turbine, i.e. the first wind turbine, sends a signal that turns out to be not- relevant to the receiver, the receiver lowers the trustwor thiness (probability) of the sender.
According to a further preferred embodiment, evaluating the event information and/or generating the control command is based on processing the event information according to a pre determined map. Using a predetermined map is based on knowledge, if and how the second wind turbine reacts on the environmental information within the broadcast message. The reaction is kind of "hard-coded" in the map. In other words, control commands are defined in advance with respect to every possible situation (event). This is a classical way to define control strategies.
According to an alternative embodiment, evaluating the event information is based on processing the event information by a trained data driven model, where the event information is fed as a digital input to the trained data driven model and the trained data driven model provides the information whether or not the predetermined event of the first wind turbine will hit the second wind turbine as a digital output. Any known data driven model being learned by machine learning may be used in the method according to the invention.
In a particularly preferred embodiment, the trained data driven model is a neural network, preferably a recurrent neu ral network. Nevertheless, other trained data driven models may also be implemented in the method of the invention, e.g. reinforcement learning. Every time, the second wind turbine receives a broadcast message, it has to make a decision whether the information in the broadcast message has to be considered for its control strategy. The second wind turbine stores all its reactions or not-reactions and knows retro spectively if a decision was good or bad. Thus, the second wind turbine can learn from its experiences of previous events and takes this into account for further operation.
Such a reinforcement learning can also be applied on a cen tral computing unit.
According to a further preferred embodiment, the control com mand consists of or comprises at least one of the following countermeasures: shutdown; soft-shutdown; adjusting a yaw an gle; adjusting a pitch angle. Furthermore, combinations of the countermeasures may be applied. The shutdown and the soft-shutdown differentiate mainly based on the time it takes from triggering a stop command until the turbine is complete ly stopped. A soft-shutdown allows a smoother ramping down than a hard shutdown. The countermeasures can be initiated by respective control commands generated by the central compu ting unit or the second wind turbine itself. Considering the period of time until the predetermined event at the first wind turbine will hit the second wind turbine, those counter measures can be chosen which have a minimized effect on nega tive loads. Such countermeasures are more "friendly" to the second wind turbine and its components, so that the lifetime of the components can be extended.
According to a further preferred embodiment, the control com mand is generated by the second wind turbine. Alternatively, the control command is generated by the central computing unit, wherein the control command is transmitted by a broad cast message or a unicast message to the second wind turbine.
Besides the above method, the invention refers to a system for computer-implemented controlling of one or more wind tur bines in a wind farm, where the system is configured to per form the method according to the invention or one or more em bodiments of the method according to the invention.
Moreover, the invention refers to a computer program product with a program code, which is stored on a non-transitory ma chine-readable carrier, configured for carrying out the meth od according to the invention or one or more preferred embod iments thereof when the program code is executed on a comput er.
Furthermore, the invention refers to a computer program with a program code for carrying out the method according to the invention or one or more preferred embodiments thereof when the program code is executed on a computer.
An embodiment of the invention will now be described in de tail with respect to the accompanying drawing. Fig. 1 shows a schematic illustration of a wind farm for performing a first embodiment of the invention.
Fig. 2 shows a schematic illustration of the method per formed by the wind farm according to the first em bodiment of the invention.
Fig. 3 shows a schematic illustration of a wind farm for performing a second embodiment of the invention.
Fig. 4 shows a schematic illustration of the method per- formed by the wind farm according to the second em- bodiment of the invention.
Fig. 1 shows a wind farm comprising an upstream first wind turbine 1 and a downstream second wind turbine 2 in a view from above. The wind farm may have more than those two wind turbines. The method described herein is applied to the first and the second wind turbines 1 and 2. Nevertheless, the meth od may also be applied to other pairs of wind turbines being part of the wind farm or one or more upstream first wind tur bines and one or more downstream second wind turbines.
The wind turbines 1, 2 are shown in plan view from above. A 3D coordinate system CS for indicating the spatial arrange ment of the wind turbines is part of Fig. 1. The vertical di rection is indicated by the z-axis of the coordinate system CS whereas the directions parallel to the horizontal direc tion are indicated by the x-axis and y-axis of the coordinate system CS. The wind direction is along the x-axis of the co ordinate system CS.
Wind turbine 1 which is an upstream turbine with respect to the wind direction comprises an upper section being located on top of a tower (not shown) which extends in the vertical z-direction. The upper section comprises a nacelle 12 accom modating an electric generator for generating electricity. Furthermore, the upper section comprises a rotor HR having three rotor blades 11B with an angle of 120° therebetween where Fig. 1 only shows two of those blades. The rotor 11R is rotated around the horizontal rotor axis by wind resulting in the generating of electricity by the generator within the na celle 12. The upper section of the wind turbine 1 can be piv oted around the vertical yaw axis extending in z-direction.
Wind turbine 1 is equipped with a plurality of sensors 13, where in the schematic illustration only one sensor 13 is shown. The number of sensors 13 consists of sensors for ac quiring environmental data ED, such as temperature, wind speed, wind direction, and stress data SD, such as mechanical loads, strain, vibrations of the tower, vibrations of the na celle, and so on. In addition, wind turbine 1 comprises a computing unit 14 and a transmitting unit 15. The transmit ting unit 15 may be a transceiver configured to be able to receive data as well.
Wind turbine 2 which is located downstream with respect to the wind direction has the same construction as wind turbine 1. I.e., wind turbine 2 comprises an upper section located at the top of a vertical tower (not shown), the section compris ing a nacelle 22 accommodating a generator as well as a rotor 21R attached to the nacelle 22. Due to the rotation of the rotor 21R by wind around the horizontal rotor axis, electric ity is generated by the generator within the nacelle 22. Analogously to wind turbine 1, wind turbine 2 can be pivoted around a vertical yaw axis.
Wind turbine 2 is equipped with a plurality of sensors 23, where in the schematic illustration only one sensor 23 is shown. The number of sensors 23 consists of sensors for ac quiring environmental data ED, such as temperature, wind speed, wind direction, and stress data SD, such as mechanical loads, strain, vibrations of the tower, vibrations of the na celle, and so on. In addition, wind turbine 2 comprises a computing unit 24 and a receiving unit 25. The receiving unit 25 may be a transceiver configured to be able to transmit da ta as well.
Data exchange from the transmitting unit 15 of wind turbine 1 to the receiving unit 25 of wind turbine 2 may be wired or wireless.
In case of an environmental event, such as gust or wave, at first the upstream wind turbine 1 is hit by the wind and af ter a period of time which is dependent from wind direction, wind speed and the distance between the wind turbines 1, 2 wind turbine 2 is hit by that environmental event as well.
The environmental event may be such that each of the compu ting units 14, 24 of the first and the second wind turbines 1, 2 may have to adapt their control strategy to avoid exces sive loads and component fails of the wind turbines 1, 2. An immediate reaction might be a hard shutdown immediately after the environmental data ED and stress data SD have been ac quired by the one or more sensors 13, 23 of the respective wind turbines 1, 2.
The method as described in the following provides an easy method to use acquired sensor data taken from the one or more sensors 13 of the upstream wind turbine 1 for controlling the downstream second wind turbine 2 to enable the second wind turbine 2 to avoid excessive loads due to the environmental event and hard control strategies.
To do so, environmental data ED and stress data SD are ob tained, where the environmental data ED and the stress data SD are current data being taken by the one or more sensors 13 installed at the first wind turbine 1. The environmental data ED and the stress data SD are fed as a digital input to the computing unit 14 of the first wind turbine 1. The computing unit 14 determines, based on the environmental data ED and the stress data SD, a status information STI which indicates whether or not a predetermined event is present at the time of taking the environmental data ED and the stress data SD. The term "predetermined event" corresponds to an environmen tal event which requires immediate controlling of first wind turbine 1 to avoid extreme loads and resulting component fails, such as gust or wave.
In case that the status information STI indicates the prede termined event, a message M is transmitted from the transmit ting unit 15 as a broadcast message into the wind farm. The message M contains an event information EVI. The event infor mation EVI consists of or comprises a timestamp TS at the time of acquiring the environmental data ED and the stress data SD characterizing the predetermined event and at least some of the environmental data ED. In particular, a wind speed WS and wind direction are used as event information EVI.
The broadcast message M is received by the receiving unit 25 of the second wind turbine 2. The message is forwarded from the receiving unit 25 to the computing unit 24, where it is evaluated. The evaluation consists of or comprises processing the event information whether or not the predetermined event at the first wind turbine 1 will hit the second wind turbine 2 as well. This information can be taken from the wind speed, the wind direction and the known distance between the first and the second wind turbines 1, 2, where the latter enables determining the period of time, starting from the time of having determined the predetermined event at the first wind turbine 1, until the predetermined event will hit the second wind turbine 2.
In case that the evaluation holds that the predetermined event will hit the second wind turbine 2, a control command CO is generated for controlling the second wind turbine 2 such that the predetermined event can be counteracted. The control command may consist of or may comprise control param eters suitable for initiating a shutdown, a soft-shutdown, an adjustment of the yaw angle and/or an adjustment of the pitch angle. In addition, further countermeasures or combinations thereof can be taken. If the determined period of time until the predetermined event hits the second wind turbine is long enough that a soft-shutdown is possible, control commands CO can be initiated before the predetermined event reaches the second wind turbine 2. A soft-shutdown, for example, is much more friendly to the wind turbine and its components, so that the lifetime of the components can be extended.
If the evaluation of the event information has the result that the predetermined event will not cause extreme loads but can be used to increase performance, control commands CO can be generated such that the performance is increased, for ex ample by early adapting a pitch angle.
Generation of control commands CO may be hard-coded, i.e. the evaluation of the event information and/or generation of the control command is based on processing the event information according to a predetermined map. Such a map consists of or comprise possible reactions to every possible situation. Al ternatively, the evaluation may be based on processing the event information by a trained data driven model, where the event information is fed as a digital input to the trained data driven model and the trained data driven model provides the information whether or not the predetermined event at the first wind turbine will hit the second wind turbine as a dig ital output. The trained data driven model can be based, for example, on reinforcement learning or deep learning.
As for reinforcement learning, every time a turbine reads a broadcast message, it has to decide to take into account the event information for its control or not. The second wind turbine stores all its reactions or non-reactions and knows retrospectively if a decision was good or bad. Thus, it can learn from experiences of previous events and take this into account for further, future operation.
Alternatively, the second wind turbine can take the infor mation of previous events, its reactions and the outcome, i.e. used control commands and strategies. This information can be fed to a machine learning algorithm, e.g. a neural network. The second wind turbine learns the best behavior to certain events. This learning might have to be repeated once in a while to update the algorithm with recent information.
While the first example shown in Figs. 1 and 2 is based on a direct analysis of the information at the first and the sec ond wind turbines 1,2 , where reasonable responses to the predetermined events are defined by the second wind turbine 2 itself, a cloud-based or centralized procedure may be possi ble as well. In the embodiment according to Figs. 1 and 2, no network connection to the cloud is required nor any pro cessing in the cloud. Hence, real-time reactions can be guar anteed. The second wind turbine 2 takes all information, pro cesses it and defines the best response for itself.
The cloud-based procedure is shown in the second embodiment according to Figs. 3 and 4. Fig. 3 corresponds to a first em bodiment according to Fig. 1 with the exception that there is no direct communication between the first and the second wind turbines 1, 2. Instead, a central computing unit CCU is in volved in the communication from wind turbine 1 to wind tur bine 2.
According to the second embodiment, a message Ml containing the timestamp TS and the environmental information EVI con sisting of or comprising wind speed WS and wind direction WD of the environmental data ED is transmitted from the trans mitting unit 15 of the first wind turbine 1 to the central computing unit CCU (Fig. 4). The central computing unit CCU determines the status information STI indicating whether or not the predetermined event is present at the time of taking the environmental data ED and the stress data SD of the first wind turbine 1. Alternatively, the status information STI may be determined by the first wind turbine 1 and also be part of the message Ml. Furthermore, the central computing unit CCU evaluates the event information EVI whether or not the predetermined event at the first wind turbine 1 will hit the second wind turbine 2. In case that the evaluation holds that the predetermined event will hit the second wind turbine 2, a control command
CO is generated and transmitted via a message M2 to the re ceiving unit 25 of the second wind turbine 2. The wind tur bine 2 therefore does not have to evaluate the event infor mation EVI by itself but directly receives control commands CO instead.
Alternatively, the central computing unit CU can forward the event information EVI to the second wind turbine 2 in case that the evaluation holds that the predetermined event will hit the second wind turbine 2. The computing unit 24 of the second wind turbine 2 will then generate a control command CO for controlling the second wind turbine to counteract the predetermined event based on the event information EVI.

Claims

Patent Claims
1. A method for computer-implemented controlling of one or more wind turbines (1, 2) in a wind farm where the wind farm comprises an upstream first wind turbine (1) and a downstream second wind turbine (2), wherein at each time point of one or more time points during the operation of the wind farm the following steps are performed: i) obtaining environmental data (ED) and stress data (SD) of the first wind turbine (1), the environmental data (ED) and the stress data (SD) being current data being taken by one or more sensors (13) installed at the first wind turbine (1); ii) determining, based on the environmental data (ED) and the stress data (SD), a status information (STI) indi cating whether or not a predetermined event is present at the time of taking the environmental data (ED) and the stress data (SD), wherein the predetermined event requires immediate controlling of the first wind turbine
(i); iii) broadcasting a message (M) into the wind farm in case that the status information (STI) indicates the prede termined event, wherein the message (M) contains as event information (EVI) at least some of the environmen tal data (ED) and a timestamp (TS); iv) evaluating, on receiving the broadcast message (M), the event information (EVI) whether or not the predetermined event at the first wind turbine (1) will hit the second wind turbine (2); v) generating a control command (CO) for controlling the second wind turbine (2) to counteract the predetermined event in case the evaluation holds that the predeter mined event will hit the second wind turbine (2). wherein evaluating the event information (EVI) comprises de termining a probability value whether the event information (EVI) is true, wherein generating the control command (CO) is initiated only if the probability value exceeds a predeter mined probability threshold.
2. The method according to claim 1, wherein the message con tains a wind direction (WD) and a wind speed (WS) as the en vironmental data (ED).
3. The method according to claim 1 or 2, wherein determining the status information (STI) is executed by a computing unit (14) of the first wind turbine (1) or a central computing unit (CCU).
4. The method according to one of the preceding claims, wherein broadcasting the message (M) into the wind farm is executed by a transmitting unit (15) of the first wind tur bine (1).
5. The method according to one of the preceding claims, wherein evaluating the event information (EVI) is executed by a computing unit (24) of the second wind turbine (2) or the central computing unit (CCU).
6. The method according to one of the preceding claims, wherein evaluating the event information (EVI) comprises de termining the period of time, starting from the time of hav ing determined the predetermined event at the first wind tur bine (1) until the predetermined event will hit the second wind turbine (2).
7. The method according to one of the preceding claims, wherein evaluating the event information (EVI) and/or gener ating the control command (CO) is based on processing the event information (EVI) according to a predetermined map.
8. The method according to one of the preceding claims, wherein evaluating the event information (EVI) is based on processing the event information (EVI) by a trained data driven model (MO), where the event information (EVI) is fed as a digital input to the trained data driven model (MO) and the trained data driven model (MO) provides the information whether or not the predetermined event at the first wind tur bine (1) will hit the second wind turbine (2) as a digital output.
9. The method according to one of the preceding claims, wherein the control command (CO) comprises at least one of the following countermeasures: shutdown; soft-shutdown; adjusting a yaw angle; adjusting a pitch angle.
10. The method according to one of the preceding claims 1 to 9, wherein the control command (CO) is generated by the sec ond wind turbine (2).
11. The method according to one of the preceding claims 1 to 9, wherein the control command (CO) is generated by the cen tral computing unit (CCU), wherein the control command (CO) is transmitted by a broadcast message or an unicast message (M2) to the second wind turbine.
12. A system for computer-implemented monitoring of one or more wind turbines (1, 2) in a wind farm where the wind farm comprises an upstream first wind turbine (1) and a downstream second wind turbine (2), wherein the system is configured to perform at each time point of one or more time points during the operation of the wind farm the following steps: i) obtaining environmental data (ED) and stress data (SD) of the first wind turbine (1), the environmental data (ED) and the stress data (SD) being current data being taken by one or more sensors (13) installed at the first wind turbine (1); ii) determining, based on the environmental data (ED) and the stress data (SD), a status information (STI) indi cating whether or not a predetermined event is present at the time of taking the environmental data (ED) and the stress data (SD), wherein the predetermined event requires immediate controlling of the first wind turbine
(l); iii) broadcasting a message (M) into the wind farm in case that the status information (STI) indicates the prede termined event, wherein the message (M) contains as event information (EVI) at least some of the environmen tal data (ED) and a timestamp (TS); iv) evaluating, on receiving the broadcast message (M), the event information (EVI) whether or not the predetermined event at the first wind turbine (1) will hit the second wind turbine (2); v) generating a control command (CO) for controlling the second wind turbine (2) to counteract the predetermined event in case the evaluation holds that the predeter mined event will hit the second wind turbine (2). wherein, in the step of evaluating the event information (EVI), the system is further configured to determine a proba bility value whether the event information (EVI) is true, wherein generating the control command (CO) is initiated only if the probability value exceeds a predetermined probability threshold.
13. The system according to claim 12, wherein the system is configured to perform a method according to one of claims 2 to 11.
14. A wind farm comprising a first wind turbine (1) and a second wind turbine (2), wherein the wind farm comprises a system according to claim 12 or 13.
15. A computer program product with program code, which is stored on a non-transitory machine-readable carrier, config ured for carrying out a method according to one of claims 1 to 11 when the program code is executed on a computer.
EP21711792.8A 2020-03-19 2021-03-04 Method for computer-implemented controlling of one or more wind turbines in a wind farm Active EP4097351B1 (en)

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